相关论文: Collision Probability Distribution Estimation via …

Accident anticipation aims to predict impending collisions from dashcam videos and trigger early alerts. Existing methods rely on binary supervision with manually annotated "anomaly onset" frames, which are subjective and inconsistent,…

Autonomous vehicle safety is crucial for the successful deployment of self-driving cars. However, most existing planning methods rely heavily on imitation learning, which limits their ability to leverage collision data effectively.…

In this paper, we investigate a predictive approach for collision risk assessment in autonomous and assisted driving. A deep predictive model is trained to anticipate imminent accidents from traditional video streams. In particular, the…

This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…

A novel algorithm is presented for the estimation of collision probabilities between dynamic objects with uncertain trajectories, where the trajectories are given as a sequence of poses with Gaussian distributions. We propose an adaptive…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…

Despite recent advances in reinforcement learning (RL), its application in safety critical domains like autonomous vehicles is still challenging. Although punishing RL agents for risky situations can help to learn safe policies, it may also…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

This paper introduces a versatile approach for computing the risk of collision specifically tailored for scenarios featuring low relative encounter velocities, but with potential applicability across a wide range of situations. The…

Autonomous agents such as self-driving cars or parcel robots need to recognize and avoid possible collisions with obstacles in order to move successfully in their environment. Humans, however, have learned to predict movements intuitively…

Traffic forecasting is a challenging task due to the complex spatio-temporal correlations among traffic series. In this paper, we identify an underexplored problem in multivariate traffic series prediction: extreme events. Road congestion…

Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set…

We present new algorithms for estimating and testing \emph{collision probability}, a fundamental measure of the spread of a discrete distribution that is widely used in many scientific fields. We describe an algorithm that satisfies…

Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…

Accurate vehicle trajectory prediction is essential for ensuring safety and efficiency in fully autonomous driving systems. While existing methods primarily focus on modeling observed motion patterns and interactions with other vehicles,…

Safety is a core challenge of autonomous robot motion planning, especially in the presence of dynamic and uncertain obstacles. Many recent results use learning and deep learning-based motion planners and prediction modules to predict…

Trajectory prediction is one of the key components of the autonomous driving software stack. Accurate prediction for the future movement of surrounding traffic participants is an important prerequisite for ensuring the driving efficiency…

Existing Advanced Driver Assistance Systems primarily focus on the vehicle directly ahead, often overlooking potential risks from following vehicles. This oversight can lead to ineffective handling of high risk situations, such as high…